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Long-term Behavioral Tracking of Freely Swimming Weakly Electric Fish
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RG-SAPF: A Scheme for Cooperative Escorting of Underwater Moving Target by Multi-AUV Formation Systems Based on

Wen Pang1, Daqi Zhu1, Mingzhi Chen1

  • 1School of Mechanical Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China.

Sensors (Basel, Switzerland)
|November 27, 2025
PubMed
Summary
This summary is machine-generated.

This study presents a new framework for autonomous underwater vehicles (AUVs) to escort moving targets. The RG-SAPF scheme ensures coordinated formation control and safe navigation in complex underwater environments.

Keywords:
formation controlmulti-AUV systemspath planningsafe artificial potential fieldtarget escortunderwater moving target

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Area of Science:

  • Robotics
  • Ocean Engineering
  • Control Systems

Background:

  • Cooperative escort missions for underwater targets like human-occupied vehicles (HOVs) are challenging in complex ocean environments.
  • Existing methods struggle with dynamic reconfiguration and collision-free path planning.

Purpose of the Study:

  • To develop a comprehensive framework for multi-AUV cooperative escort missions.
  • To ensure robust formation control and safe navigation around dynamic underwater targets.

Main Methods:

  • Proposed the Rigidity Graph (RG)-based Safe Artificial Potential Field (SAPF) scheme.
  • Integrated RG for reconfigurable 3D formation control using relative positioning.
  • Employed an adaptive Widrow-Hoff rule enhanced SAPF for real-time, collision-free path planning.

Main Results:

  • Demonstrated effective maintenance of formation integrity around the target.
  • Showcased flexible obstacle avoidance capabilities in cluttered environments.
  • Validated continuous target escort under dynamic conditions through simulations and experiments.

Conclusions:

  • The RG-SAPF scheme provides a viable solution for cooperative underwater escort missions.
  • The framework supports dynamic formation reconfiguration and safe navigation.
  • Results indicate strong potential for practical applications in underwater robotics.